CN115497314A - Ecological driving method for intelligent internet automobile to pass through intersection without stopping - Google Patents
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Abstract
The invention discloses an ecological driving method for an intelligent internet automobile to pass through an intersection without stopping. The solving time of the single vehicle track is about 6ms, and the method can be practically applied to the intelligent networked automobile, so that the intelligent networked automobile can pass through the intersection without stopping, the traffic jam is effectively reduced, and the energy utilization efficiency of the vehicle is improved.
Description
Technical Field
The invention belongs to the technical field of traffic engineering, and particularly relates to an ecological driving method for intelligent internet automobiles to pass through intersections without stopping.
Background
The existing research on ecological driving of intelligent internet automobiles is that the application number is 2021115540021, the name of the invention is an invention patent application of an ecological driving method of an automatic driving automobile passing through a signalized intersection, the application number is 201810047026.X, the name of the invention is an invention patent of an ecological driving behavior optimization method of an urban road intersection based on reinforcement learning, and the like. The method can reduce the energy consumption of the vehicle in the running process to the maximum extent, and reduce the vehicle travel time to a certain extent. However, since the vehicle energy consumption estimation model is usually a nonlinear function with a complex structure, it is difficult to obtain an analytic solution from the established optimization model, and the method for solving the numerical solution requires iteration to converge the result, and the iterative convergence process generally requires a relatively long calculation time, and is difficult to implement in a real traffic system which changes in real time.
Disclosure of Invention
The invention aims to provide a simple ecological driving method with quick operation time, which aims to effectively avoid the burden of nonlinearity of an energy consumption estimation model on the calculation efficiency by selecting an intelligent internet automobile to pass through an intersection without stopping, so that the automobile can pass through the intersection in a smooth and stable track, and the additional energy consumption caused by a severe acceleration and deceleration process is reduced. By adopting the ecological driving strategy provided by the invention, the calculation time can reach millisecond level, and the ecological driving strategy can be practically applied to intelligent networked automobiles, so that traffic jam is relieved, and traffic energy consumption is reduced.
In order to achieve the purpose, the invention adopts the technical scheme that:
an ecological driving method for enabling an intelligent internet automobile to pass through an intersection without stopping comprises the following steps:
s1, obtaining speed and position information of a vehicle, speed and position information of a front vehicle, and intersection signal phase and timing information;
obtaining the current speed v of the vehicle n And a distance S from the front vehicle n And front vehicle speed v n-1 The remaining driving time t at the intersection last Distance d between the vehicle and the stop line at the intersection n,sl Distance d between front vehicle and stop line at intersection n-1,sl And the time t required by the intersection signal lamp to turn to the next green lamp phase g Number of front vehicles N from the vehicle to the intersection stop line pre ；
S2, calculating the safe acceleration of the vehicle;
safety device for vehicleThe velocity is expressed as: when the current vehicle suddenly brakes, the vehicle runs at the next moment with an acceleration value in order to avoid collision; considering that an Intelligent Driver Model (IDM) can effectively meet the requirement of safe driving of a vehicle and is widely applied to traffic simulation, the IDM acceleration is selected as the safe acceleration a of the vehicle n,IDM ；
Step S2 is to calculate a vehicle safe acceleration, specifically:
calculating the safe acceleration a according to the current speed, the speed and the distance of the vehicle n,IDM (ii) a Let the current vehicle speed be v n Front vehicle speed v n-1 And a distance S from the front vehicle n The maximum speed of the vehicle is v n,max The maximum acceleration a of the vehicle n,max The safe following time interval is tau, the comfortable deceleration is a n,b Minimum safe distance s 0 ；
Firstly, the expected following distance of the vehicle is calculated
The safe acceleration of the vehicle is then determined
S3, judging whether the vehicle can pass through the intersection or not;
from the current speed v of the vehicle n Safe acceleration a n,IDM Distance d between the vehicle and the stop line at the intersection n,sl Calculating the time delta t required by the vehicle to exit the stop line according to the original state sl . Comparison of Δ t sl And the remaining driving time t of the intersection last The remaining driving time of the signalized intersection is the sum of the remaining green light time and the remaining yellow light time; if Δ t sl ≤t last It is stated that the vehicle can drive through the intersection in the current state, without ecological driving guidance, the vehicle will remain at the safe acceleration a n,IDM Running; otherwise, the vehicle can not drive out of the intersection in a safe driving state, the driving mode of the vehicle needs to be changed, and an ecological driving guidance strategy is carried out;
step S3 is to determine whether the vehicle can pass through the intersection, specifically:
from the current speed v of the vehicle n Safe acceleration a n,IDM Distance d between vehicle and stop line of intersection sl Calculating the time delta t required by the vehicle to exit the stop line according to the original state sl And the remaining running time t at the intersection last And judging whether the vehicle can pass through the intersection or not. Δ t sl The specific calculation process is as follows:
1)、a n,IDM if the speed of the vehicle is higher than 0, the acceleration of the vehicle is illustrated, and the time for the vehicle to accelerate to the maximum speed is calculated
If t is acc ＞t last ，
t acc ≤t last ，
2)、a n,IDM Less than or equal to 0, indicating the deceleration of the vehicle and calculating the braking time of the vehicle
If t is dec ＞t last ，
t dec ≤t last ，Δt sl ＝∞。
S4, predicting the time when the vehicle actually passes through the stop line of the intersection;
when the vehicle can not drive out of the intersection in a safe state, the vehicle can drive out of the intersection according to the residual driving time t of the intersection last The time t required by the next green light phase g Its front vehicle speed v n-1 Distance d between the front vehicle and the stop line of the intersection n-1,sl Saturated headway t hw And the number N of front vehicles from the vehicle to the stop line pre Predicting the time t of the vehicle passing through the stop line of the intersection sl ；
Δt sl Press the carTime, delta t, of crossing calculated from body speed and acceleration sl The traffic signal phase is not taken into account, so when Δ t sl ＜t last In time, the time when the vehicle passes through the intersection needs to be predicted again, namely t sl 。
Step S4 is to predict the time when the vehicle actually passes through the stop line at the intersection, specifically:
when the vehicle cannot exit the intersection in a safe state, the vehicle is driven according to the speed v of the vehicle ahead n-1 Distance d between front vehicle and stop line at intersection n-1,sl And the number N of front vehicles from the vehicle to the stop line at the intersection pre Predicting the time t of the vehicle actually passing through the stop line of the intersection sl ，t sl The specific calculation process is as follows:
1)、N pre =0, the vehicle is a head vehicle, the vehicle cannot exit from the intersection in the current signal period, the vehicle exits from the intersection at the green light turn-on time of the next period, and t sl ＝t g ；
2)、N pre Not equal to 0, calculating the time required by the front vehicle to pass through the intersection at a constant speed
If it is
The front vehicle can pass through the stop line at a constant speed, and the vehicle can drive through the stop line in the current signal period at the same time
If it is
The fact that the front vehicle can pass through the stop line at a constant speed in the current signal period but the vehicle can not pass through the stop line along with the front vehicle is shown, and t is the moment sl ＝t g (ii) a If it is
The front vehicle can not drive out of the stop line of the intersection in the current signal period, and t is at the moment sl ＝t g +Δt+N pre t hw 。
S5, calculating the ecological acceleration of the vehicle;
according to the distance d between the vehicle and the stop line at the intersection n,sl Predicting the time t when the vehicle actually passes through the intersection sl Determining the average speed of the vehicle passing through the intersection without stopping
Then pass through
v n And determining the ecological acceleration of the vehicle at the next moment by unit simulation step length delta t
S6, determining the final acceleration of the vehicle;
ecological acceleration a taking into account vehicle dynamics n,eco Should be greater than the maximum allowable braking acceleration a of the vehicle n,min (ii) a Simultaneously, considering the driving safety of the vehicle, the ecological acceleration a 'is obtained from the acceleration of the vehicle' n And a safe acceleration a n,IDM Medium to small value to obtain final acceleration a' n ＝min(a n,IDM ,max(a n,eco ,a n,min ))；
S7, updating the vehicle state;
by final acceleration a' n Calculating unit simulation step length delta t to obtain speed v 'of the vehicle at the next moment' n ＝v n +a′ n And delta t, obtaining the distance between the vehicle at the next moment and the stop line at the intersection:
s8, judging the vehicle state;
analyzing the distance d 'between the next moment of the vehicle and the stop line at the intersection' n,sl If d' n,sl If the vehicle is still in the intersection, the vehicle is determined again according to the steps S1 to S6A time state; if d is n,sl Less than or equal to 0, the vehicle is driven out of the intersection without ecological speed induction, and the vehicle is driven at a n,IDM And driving until the vehicle is driven out of the intersection.
Compared with the prior art, the invention has the beneficial effects that:
on the basis of the current state and the IDM acceleration of the vehicle, the invention takes the speed and the position of the vehicle and the signal phase and the timing of the intersection as input variables and outputs the acceleration of the vehicle at the subsequent time to obtain the space-time change track of the intelligent networked vehicle, so that the intelligent networked vehicle can pass through the intersection without stopping, the traffic delay is reduced, and the traffic energy consumption is reduced. The solving time of the single-vehicle track is about 6ms, and the method can be practically applied to the intelligent networked automobile, so that the intelligent networked automobile can pass through the intersection without stopping, the traffic jam is effectively reduced, and the energy utilization efficiency of the automobile is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a position-time diagram of an embodiment of the present invention and a manual drive;
FIG. 3 is a velocity-time diagram of an embodiment of the present invention with manual driving;
FIG. 4 is an acceleration-time diagram of an embodiment of the present invention and manual driving;
FIG. 5 is a graph of instantaneous energy consumption versus time for an embodiment of the invention and for manual driving.
Detailed Description
The invention is further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the method in this embodiment includes the following steps:
s1, obtaining speed and position information of a vehicle, speed and position information of a front vehicle, and intersection signal phase and timing information;
with vehicle speed v n Distance S from the front vehicle of =10m/S n =60m, distance d from the stop line at the intersection n,sl =200m, front speed v n-1 =12m/s, distance d between the leading vehicle and the intersection n-1,sl =140m, traffic from the host vehicle to the trafficNumber of front vehicles N of fork parking line pre =2, intersection remaining travel time t last =10s, time t required for signal lamp to turn to next green lamp phase g ＝40s。
S2, calculating the safe acceleration of the vehicle;
speed limit v of assumed intersection n,max =18m/s, maximum acceleration a of the vehicle n,max ＝2.5m/s 2 Comfort deceleration a n,b = 2m/s, maximum braking acceleration a n,min ＝-4m/s 2 The safe following distance tau =1.6s and the minimum safe distance s 0 =2m, saturated headway t hw =2s, unit simulation step Δ t =1s.
Calculating the expected following distance of the vehicle
Safe acceleration
S3, judging whether the vehicle can pass through the intersection or not;
a n,IDM (ii) 0, indicating vehicle acceleration, calculating the time for the vehicle to accelerate to maximum speed:
has t acc ≤t last ＝10s，
Δt sl ≥t last The vehicle cannot pass through the intersection according to the current state, and ecological driving induction is needed.
S4, predicting the time when the vehicle actually passes through the stop line of the intersection;
N pre not equal to 0, calculating the time required by the front vehicle to pass through the intersection at a constant speed
Is provided with
Indicating that the front vehicle can not drive out of the stop line of the intersection in the current signal period, t sl ＝40+1+2×2＝45s。
S5, calculating the ecological acceleration of the vehicle;
determining the average speed of the vehicle passing through the intersection without stopping:
then pass through
v n And determining the ecological acceleration of the vehicle at the next moment by the unit simulation step length delta t:
s6, determining the final acceleration of the vehicle;
final acceleration:
a′ n ＝min(a n,IDM ,max(a n,eco ,a n,min ))＝min(2.2,max(-5.6,-4))＝-4m/s 2 。
s7, updating the vehicle state;
the speed of the vehicle at the next moment:
v′ n ＝v n +a′ n Δ t =10+ (-4) × 1=6m/s, and the distance from the stop line at the intersection at the next moment of the vehicle is obtained:
s8, judging the vehicle state;
d n,sl more than or equal to 0, the vehicle is still positioned in the intersection, the updated speed and position information of the vehicle is recorded, and the next vehicle is determined again according to the steps S1 to S6And (4) the state of time until the vehicle is driven out of the stop line of the intersection.
Example 2
Taking the intersection length as 400m and the length of one vehicle as 6m; the simulated vehicles have the same dynamic parameters; the speed limit at the intersection is 18m/s, the initial speed of the vehicle is 10m/s, and the maximum acceleration of the vehicle is 2.5m/s 2 Comfort deceleration is-2 m/s, maximum braking acceleration is-4 m/s 2 The safe following time interval is 1.6s, and the minimum safe interval is 2m; the signal period duration is 60s, wherein the green light is 30s, the yellow light is 3s, the red light is 27s, and the signal lamp is in a green light on state initially. The simulation coding software is Matlab, the computer display card is Intel i5-9300H, and the memory is 16GB.
FIG. 2 shows the operation of an embodiment of the present invention in a particular simulation environment. The scene has two tracks, wherein the track implementing the ecological driving method is called ecological driving; without the implementation of the ecological driving method of the present invention, the trajectory calculated by IDM is called as ecological-free driving. As can be seen from fig. 2, for the vehicle implementing ecological driving, the time for the vehicle to exit the intersection is substantially lower than the non-ecological driving state; the implementation of the ecological driving method effectively improves the road passing efficiency and reduces traffic jam to a certain extent; taking a third vehicle as an example, as can be seen from fig. 3-4, the vehicle ecologically driven by the method has stable speed and acceleration along with time change, so that the severe acceleration and deceleration process of the vehicle is effectively reduced, and the driving safety and comfort are improved. Meanwhile, as can be seen from fig. 5, considering that the vehicle is driven by fuel oil, the vehicle Energy consumption is estimated through the fuel oil vehicle instantaneous Energy consumption model proposed in the paper Energy-related model of instant fuel consumption compatibility by BIGGS D C and AKCELIK R, and then the instantaneous Energy consumption of the vehicle under the ecological driving method is obviously superior to that of the non-ecological driving method by using fig. 5, so that the vehicle driving Energy consumption is effectively reduced.
Claims (3)
1. An ecological driving method for enabling an intelligent internet automobile to pass through an intersection without stopping is characterized by comprising the following steps of:
s1, obtaining speed and position information of a vehicle, speed and position information of a vehicle ahead, road characteristics of an intersection, and intersection signal phase and timing information;
the intelligent networked automobile obtains the current speed v of the automobile through the automobile-to-automobile communication and automobile-to-road communication technology n And a distance S from the front vehicle n And front vehicle speed v n-1 Distance d between the vehicle and the stop line at the intersection n,sl Distance d between front vehicle and stop line at intersection n-1,sl The remaining driving time t at the intersection last The time t required by the intersection signal lamp to turn to the next green lamp phase g The number N of front vehicles away from the stop line of the intersection pre ；
S2, calculating the safe acceleration of the vehicle;
selecting IDM acceleration as vehicle safety acceleration a n,IDM (ii) a The specific method for calculating the safe acceleration of the vehicle comprises the following steps:
calculating the safe acceleration a according to the current speed, the speed and the distance of the vehicle n,IDM (ii) a Noting the current vehicle speed as v n Front vehicle speed v n-1 And a distance S from the front vehicle n The maximum speed of the vehicle is v n,max The maximum acceleration a of the vehicle n,max The safe following time interval is tau, the comfortable deceleration is a n,b Minimum safety distance s 0 ；
Firstly, calculating the expected following distance of the vehicle:
the vehicle safe acceleration is then determined:
s3, judging whether the vehicle can pass through the intersection or not;
from the current speed v of the vehicle n Safe acceleration a n,IDM Distance d between the vehicle and the stop line at the intersection n,sl Calculating the time delta t required by the vehicle to exit the stop line according to the original state sl (ii) a Comparison of Δ t sl And the remaining driving time t of the intersection last The remaining driving time of the signalized intersection is the sum of the remaining green light time and the remaining yellow light time; if it isΔt sl ≤t last It is stated that the vehicle can drive through the intersection in the current state without ecological driving guidance, and the vehicle will remain at the safe acceleration a n,IDM Driving; otherwise, the vehicle can not drive out of the intersection in a safe driving state, the driving mode of the vehicle needs to be changed, and an ecological driving guidance strategy is carried out;
s4, predicting the time when the vehicle actually passes through the stop line of the intersection;
when the vehicle can not drive out of the intersection in a safe state, the vehicle can drive out of the intersection according to the remaining driving time t of the intersection last The time t required by the next green light phase g Its front vehicle speed v n-1 Distance d between the front vehicle and the stop line of the intersection n-1,sl Saturated headway t hw And the number N of front vehicles from the vehicle to the stop line pre Predicting the time t of the vehicle passing through the stop line of the intersection sl ；
S5, calculating the ecological acceleration of the vehicle;
according to the distance d between the vehicle and the stop line of the intersection n,sl Predicting the time t for the vehicle to actually pass through the intersection sl Determining the average speed of the vehicle passing through the intersection without stopping
Then pass through
v n And determining the ecological acceleration of the vehicle at the next moment by unit simulation step length delta t
S6, determining the final acceleration of the vehicle;
considering the vehicle dynamics, ecological acceleration a n,eco Should be greater than the maximum allowable braking acceleration a of the vehicle n,min (ii) a Simultaneously, considering the driving safety of the vehicle, the ecological acceleration a 'is obtained from the acceleration of the vehicle' n And a safe acceleration a n,IDM The medium and small value obtains the final acceleration a' n ＝min(a n,IDM ,max(a n,eco ,a n,min ))；
S7, updating the vehicle state;
by final acceleration a' n Calculating unit simulation step length delta t to obtain speed v 'of the vehicle at the next moment' n ＝v n +a′ n And delta t, obtaining the distance between the vehicle at the next moment and the stop line at the intersection:
s8, judging the vehicle state;
analyzing the distance d 'between the next moment of the vehicle and the stop line at the intersection' n,sl If d' n,sl If the current time is more than 0, the vehicle is still positioned in the intersection, and the state of the vehicle at the next time is determined again according to the steps S1 to S6; if d' n,sl Less than or equal to 0, the vehicle is driven out of the intersection without ecological speed induction, and the vehicle is driven at a n,IDM And driving until the vehicle is driven out of the intersection.
2. The ecological driving method for enabling the intelligent internet-connected vehicle to pass through the intersection without stopping according to claim 1, wherein the delta t in the step S3 sl The specific calculation process is as follows:
31)、a n,IDM if the speed is more than 0, the vehicle is accelerated, and the time for the vehicle to accelerate to the maximum speed is calculated
If t is acc ＞t last ，
t acc ≤t last ，
32)、a n,IDM Less than or equal to 0, indicating the deceleration of the vehicle and calculating the braking time of the vehicle
If t dec ＞t last ，
t dec ≤t last ，Δt sl ＝∞。
3. The ecological driving method for the intelligent internet-connected vehicle to pass through the intersection without stopping according to claim 1, wherein the step S4 of predicting the time for the vehicle to actually pass through the intersection and stop the line specifically comprises the following steps:
when the vehicle cannot exit the intersection in a safe state, the vehicle is driven according to the speed v of the vehicle ahead n-1 Distance d between the front vehicle and the stop line at the intersection n-1,sl And the number N of front vehicles from the vehicle to the stop line at the intersection pre Predicting the time t of the vehicle actually passing through the stop line of the intersection sl ，t sl The specific calculation process is as follows:
41)、N pre =0, the vehicle is a head vehicle, cannot exit the intersection in the current signal period, and exits the intersection at the green light turn-on time in the next period t sl ＝t g ；
42)、N pre Not equal to 0, calculating the time required by the front vehicle to pass through the intersection at constant speed
If it is
The front vehicle can pass through the stop line at a constant speed, and the vehicle can drive through the stop line in the current signal period at the same time
If it is
The front vehicle can pass through the stop line at a constant speed in the current signal period, but the vehicle does notCan follow the front vehicle to pass through the stop line, at the moment t sl ＝t g (ii) a If it is
The front vehicle can not drive out of the stop line of the intersection in the current signal period, and t is at the moment sl ＝t g +Δt+N pre t hw 。
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